Vision-based cyclic pursuit for cooperative target tracking

In this paper, we study the problem of cooperative target tracking among a group of ground robots. Cooperative target tracking control laws are presented that achieve tracking of a moving target with known position, velocity, and acceleration, for both single-integrator and double-integrator robot models. When the target´s motion information are unknown constant, vision-based estimation schemes are applied to obtain estimates of the target´s position and velocity. The effectiveness of the proposed control laws and their vision-based counterparts to achieve desired formations is demonstrated by numerical simulation examples using nonholonomic robots.